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Hi @Laura, adding this as an answer for future use.
Consider resetState()
method. Below the code on how it works.
void MoveBase::resetState(){
state_ = PLANNING;
recovery_index_ = 0;
recovery_trigger_ = PLANNING_R;
publishZeroVelocity();
//if we shutdown our costmaps when we're deactivated... we'll do that now
if(shutdown_costmaps_){
ROS_DEBUG_NAMED("move_base","Stopping costmaps");
planner_costmap_ros_->stop();
controller_costmap_ros_->stop();
}
}
https://github.com/strawlab/navigatio...